21 Non-Linear Wave Equations and Solitons
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Utah State University DigitalCommons@USU Foundations of Wave Phenomena Open Textbooks 8-2014 21 Non-Linear Wave Equations and Solitons Charles G. Torre Department of Physics, Utah State University, [email protected] Follow this and additional works at: https://digitalcommons.usu.edu/foundation_wave Part of the Physics Commons To read user comments about this document and to leave your own comment, go to https://digitalcommons.usu.edu/foundation_wave/2 Recommended Citation Torre, Charles G., "21 Non-Linear Wave Equations and Solitons" (2014). Foundations of Wave Phenomena. 2. https://digitalcommons.usu.edu/foundation_wave/2 This Book is brought to you for free and open access by the Open Textbooks at DigitalCommons@USU. It has been accepted for inclusion in Foundations of Wave Phenomena by an authorized administrator of DigitalCommons@USU. For more information, please contact [email protected]. Foundations of Wave Phenomena, Version 8.2 21. Non-linear Wave Equations and Solitons. In 1834 the Scottish engineer John Scott Russell observed at the Union Canal at Hermiston a well-localized* and unusually stable disturbance in the water that propagated for miles virtually unchanged. The disturbance was stimulated by the sudden stopping of a boat on the canal. He called it a “wave of translation”; we call it a solitary wave. As it happens, a number of relatively complicated – indeed, non-linear – wave equations can exhibit such a phenomenon. Moreover, these solitary wave disturbances will often be stable in the sense that if two or more solitary waves collide then after the collision they will separate and take their original shape. Solitary waves which have this stability property are called solitons. The terminology stems from a combination of the word solitary and the suffix “on” which is used to signify a particle (think of the proton, electron, neutron, etc. ). We shall discuss a little later the sense in which a soliton is like a particle. Solitary waves and solitons have become very important in a variety of physical settings, for example: hydrodynamics, non-linear optics, plasmas, meteorology, and elementary particle physics, to name a few. Our goal in this chapter is to give a very brief — and completely superficial — introduction to solitonic solutions of non-linear wave equations. To begin, let me point out that the humble wave equation in one dimension already provides an illustration of some of the phenomena we want to explore, principally by virtue of its linearity. We have already seen that the solutions to the wave equation † @2 @2 v2 q(x, t) = 0 (21.1) @t2 − @x2 ✓ ◆ take the general form q(x, t)=f(x + vt)+g(x vt), (21.2) − where the functions f and g are determined by initial conditions. Let us suppose that we choose our initial conditions so that the solution has f = 0, so that the wave is simply the displacement profile q = g(x vt), that is, a traveling disturbance with the shape dictated − by the curve y = g(x) translating rigidly to the “right” (toward positive x) at speed v. Let us also suppose that g is a function that is localized in some region, so that it has a finite width. We have a “pulse”, which travels to the right, unchanged in shape. Thus the pulse is a solitary wave. To visualize this, imagine that you and your friend are holding a rope taut between you and you shake the end of the rope one time. The result is a pulse which travels toward your friend (with a speed depending upon the density and tension of the rope). This “pulse” has its shape described by the function g. Now suppose we also allow f to be a localized non-trivial function, you then get a pulse traveling to the * About 10 meters long and half a meter in height. The truly remarkable thing about solitonic behavior is that there are highly non-linear † equations which also can exhibit it. 171 c C. G. Torre Foundations of Wave Phenomena, Version 8.2 left superposed with the pulse traveling to the right. Suppose the two pulses are initially separated, the one described by f sitting o↵ at large, positive x, and the one described by g sitting o↵ at large negative x, say. The pulses will approach each other at a relative speed of 2v and at some point they will overlap, giving a wave profile which is, evidently, the algebraic sum of the individual pulses. Eventually, the pulses will become separated with the pulse described by g moving o↵ toward large positive values of x and the pulse described by f moving to large negative values of x. The pulses “collide”, but after the collision they retain their shape – their “identity”, if you will. To visualize this, return to the rope experiment. You shake the rope once, and your friend also shakes the rope once. Each of you produce a pulse which travels toward the other person, overlap for a time, then separate again unscathed. Try it! (You may need a long rope to see this work.) This is a simple example of solitonic behavior. In this example the solitonic behavior results from the linearity of the wave equation (superposition!) and its dispersion relation. Indeed, it is difficult to imagine such behavior emerging from anything but a linear equation. Our model of coupled oscillators that led to the wave equation is about as simple as it can be. As such, it does not take into account many details of the behavior of the medium that the waves propagate in. More realistic or alternate wave equations do not necessarily exhibit this solitary wave behavior because they lack the superposition property and or they lack the requisite dispersion relation. For example, let us consider the Schr¨odinger equation for a free, non-relativistic, quan- tum mechanical particle with mass m moving in one dimension: @ ¯h2 @2 i¯h = . (21.3) @t −2m @x2 This equation, being linear, respects the superposition property, but you will recall it does not have the simple dispersion relation possessed by the wave equation. As we saw, the general solution of (21.3) is a superposition of traveling waves 1 1 i(kx !(k)t) (x, t)= C(k)e − dk, (21.4) p2⇡ Z1 where C(k) is determined by a choice of initial wave function, (x, 0), and where ¯hk2 !(k)= . (21.5) 2m The traveling waves appearing in the superposition have di↵erent speeds. To see this, just note that the wave with wavenumber k has a speed given by !(k) ¯hk v(k)= = . (21.6) k 2m The consequence of this dispersion relation is that at any time t = 0 a well-localized initial 6 wave function does not retain its shape. Indeed, the wave pulse will spread as time passes 172 c C. G. Torre Foundations of Wave Phenomena, Version 8.2 because its di↵erent frequency (or wavelength) components do not travel at the same speed. (Physically, this is a manifestation of the uncertainty principle: localizing the particle at t = 0 within the support of the initial pulse leads to an uncertainty in momentum which, at later times, reduces the localization of the particle.) One says that the Schr¨odinger waves exhibit dispersion because the wave profiles “disperse” as time runs. So we see that solitary wave behavior is not a universal feature of wave phenomena. Let us look at another linear wave equation that exhibits dispersion. The following equation is known as the Klein-Gordon equation (in one spatial dimension): 1 @2 @2 q(x, t)+m2c2q(x, t)=0. (21.7) c2 @t2 − @x2 ✓ ◆ This equation can be used to describe a relativistic quantum particle with rest mass de- termined by m (moving in one dimension). In this context, c is the speed of light – it is not the speed of the waves. You can think of it as a relativistic generalization of the Schr¨odinger equation. Just like the Schr¨odinger equation, the general solution of the Klein-Gordon equation can be constructed by superimposing sinusoidal wave solutions over amplitudes, phases and wavelengths. To see that dispersion arises, we simply compute the dispersion relation that arises for a sinusoidal wave. Consider a (complex) solution of the form i(kx !t) q(x, t)=Ae − . (21.8) It is not hard to see that this wave solves the Klein-Gordon equation if and only if !2 = c2k2 + m2c4 ! = c k2 + m2c2. (21.9) () ± p As you can see, the wave speed !/k again depends upon k, leading to dispersion. Evidently, dispersion in linear wave equations does not allow for solitary wave phenom- ena. Remarkably, one can compensate for dispersion by carefully altering the superposition property using non-linearities in the wave equation. A detailed study of non-linear wave equations is way beyond the scope of this text. My plan is to just have a quick at one, relatively simple non-linear partial di↵erential equation to get a glimpse of how solitons can arise. A relatively simple non-linear equation is given by a modification of the Klein-Gordon equation (in one spatial dimension) for a scalar field φ(x, t): @2φ @2φ m3 pλ + sin( φ)=0. (21.10) @t2 − @x2 pλ m For simplicity in what follows we have chosen units in which c = 1. The presence of the non-linearity is controlled by m.Ifm = 0 we have the usual wave equation. The new 173 c C. G. Torre Foundations of Wave Phenomena, Version 8.2 parameter λ is going to be a “self-coupling constant”. The equation (21.10) is sometimes called the “sine-Gordon equation”, showing that mathematicians have a sense of humor to some extent.